Title:
INVERTED PENDULUM-TYPE VEHICLE CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2011/033596
Kind Code:
A1
Abstract:
Disclosed is an inverted pendulum-type vehicle controller that, regardless of the weight of an object carried on a tiltable loading portion of the vehicle, can control the tilt angle and so on of the loading portion so that an appropriate driving force can be imparted to a movement actuating portion. Velocity command values that specify a target value for the movement velocity of a movement actuating portion (5) are consecutively determined in such a way that the tilt deviation, which is the deviation between the measured value of the tilt angle of a loading portion (3) of an inverted pendulum-type vehicle (1) and the predetermined target tilt angle value thereof, approaches “0”, and an actuator device (7) is controlled in such a way that the actual movement velocity of the movement actuating portion (5) follows the target value of the movement velocity specified by the velocity command value.
Inventors:
TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
Application Number:
PCT/JP2009/004777
Publication Date:
March 24, 2011
Filing Date:
September 18, 2009
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
International Classes:
B62K17/00; B62K1/00
Domestic Patent References:
| WO2008139740A1 | 2008-11-20 |
Foreign References:
| JP3070015B2 | 2000-07-24 | |||
| JP2004129435A | 2004-04-22 |
Attorney, Agent or Firm:
SATO & ASSOCIATES (JP)
Patent business corporation creation international patent firm (JP)
Patent business corporation creation international patent firm (JP)
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